A Walking Model with No Energy Cost
نویسندگان
چکیده
We have found periodic collisionless motions for a rigid-body walking model. Unlike previous bipedal designs, this model can walk on level ground at non-infinitesimal speed with zero energy input. The model avoids collisional losses by using an internal mode of oscillation: swaying of the upper body which is coupled to the legs by springs. This avoidance of foot-strike collision losses by means of synchronized internal oscillations may help in the design of energy-efficient robots and may help to explain aspects of human and animal locomotion efficiency.
منابع مشابه
RESPONSES OF OXYGEN CONSUMPTION, HEART RATE AND PERCEIVED EXERTION TO CRUTCH WALKING: A COMPARISON BE TWEEN PAR APLEGIC AND ABLE-BODIED SUBJECTS
In this study, 10 normal volunteers and 5 sports-trained paraplegics with lesions between T6 and L2 were studied whilst walking with axillary crutches and knee-anlde-foot orthoses. All subjects walked at their preferred speed on a figureof- eight track. Normal subjects also walked at slower and faster speeds. Oxygen consumption, heart rate and rating of perceived exertion were measured. In...
متن کاملEvaluation of optimal step length in a seven-link model with margin of stability method
In a walking cycle design, maximizing the upright balance should be considered in addition to the kinematic constraints, energy consumption rate must be considered. The purpose of this study is to find the optimal step length obtained for each person according to the physical features. In this research, in order to minimize energy consumption rate by considering maximum balance two cost functio...
متن کاملThe metabolic cost of changing walking speeds is significant, implies lower optimal speeds for shorter distances, and increases daily energy estimates.
Humans do not generally walk at constant speed, except perhaps on a treadmill. Normal walking involves starting, stopping and changing speeds, in addition to roughly steady locomotion. Here, we measure the metabolic energy cost of walking when changing speed. Subjects (healthy adults) walked with oscillating speeds on a constant-speed treadmill, alternating between walking slower and faster tha...
متن کاملEnergy cost of walking and gait instability in healthy 65- and 80-yr-olds.
This study tested whether the lower economy of walking in healthy elderly subjects is due to greater gait instability. We compared the energy cost of walking and gait instability (assessed by stride to stride changes in the stride time) in octogenarians (G80, n = 10), 65-yr-olds (G65, n = 10), and young controls (G25, n = 10) walking on a treadmill at six different speeds. The energy cost of wa...
متن کاملRating of Perceived Exertion as an Indicator of Exercise Intensity in Paraplegics
Background: Energy expenditure is of paramount importance in the assessment of usefulness of wheelchair for paraplegics. Despite widespread recognition of problems associated with currently available mobility systems for persons with spinal cord injuries, development of more efficient systems has been slow. Lack of a suitable and simple technique for the assessment of energy expenditure in par...
متن کاملPredictors of energy cost during stair ascent and descent in individuals with chronic stroke
[Purpose] This study aimed to determine which clinical measures of walking performance and lower limb muscle strength would predict energy cost during stair ascent and descent in community-dwelling individuals with stroke. [Subjects and Methods] Regression analysis of cross-sectional data from 55 individuals between one and five years post-stroke was used to investigate the measures of walking ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2010